Yaskawa Alarm Codes 4500 – 4599

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4500

UNDEFINED USER FRAME

SUB-Code: User co- ordinate number

Setting error

(1) Check the following settings.
∙Check the settings for the user coordinate.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4501

OUT OF RANGE (PARALLEL PRO- CESS)

SUB-Code: Task number

Software operation error occurred

(1) Reset the alarm, and then try again.
(2) If the alarm occurs again, save the CMOS.BIN in MAINTE- NANCE mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

4502

SL BOARD ON- LINE ERROR

The option board was detected not to oper- ate normally at power ON.

Software operation error occurred

YCP02 board failure

(1) Turn the power OFF then back ON.
(2) If the alarm occurs again, replace the YCP02 board. Save the CMOS.BIN before replacing the board to be safe.

4505

UNDEFINED POSI- TION FOR ARC ON

Setting error

(1) Check the following settings.
∙Register a step before the ARCON instruction.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4506

UNDEFINED POS FOR RESTART RE- TURN

Setting error

(1) Check the following settings.
∙Check the settings for the JOB.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4507

REFP POS ERROR (SEARCH MO- TION)

Setting error

(1) Check the following settings.
∙Perform the teaching again so that the search start point and the motion target point are not the same.
∙Increase the distance between the search start point and the mo- tion target point.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4508

SPECIFIED ER- ROR (COORDI- NATE)

The specified coordi- nate system does not exist.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the master tool coor- dinate system. This coordinate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the tool coordinate system. This coordi- nate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the direction of travel coordinate system (for a shared func- tion). This coordinate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the any direction co- ordinate system (for a shared function). This coordinate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the approximation tool coordinate sys- tem (for a shared function). This coordi- nate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Designation error of the conveyor coordi- nate system. This co- ordinate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the COMARC coordi- nate system. This co- ordinate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the power sensor co- ordinate system. This coordinate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the cylindrical coordi- nate system. This co- ordinate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Designation error of the coordinate sys- tem for the external reference point. This coordinate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the coordinate sys- tem for 3D shifting. This coordinate sys- tem cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the KOMATSU tool Z- direction operation coordinate system.
This coordinate sys- tem cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the KOMATSU tool JOG operation coor- dinate system. This coordinate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the coordinate sys- tem at IMOV for 3D shifting. This coordi- nate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the H-LINK type cylin- drical coordinate sys- tem. This coordinate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Designation error of the FSER_FRAME type cylindrical coor- dinate system. This coordinate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Designation error of the reference US- ER_FRAME type cy- lindrical coordinate system. This coordi- nate system cannot be used.

Setting error

(1) Check the following settings.
∙Check the settings for the coordinate system which can be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4509

MFRAME ERROR

The master-tool user coordinates could not be prepared.

Setting error

(1) Check the following settings.
∙Execute the MFRAME instruction in coordinated JOB when you make the master tool user coordinate.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Reference user frame cannot be used.

(1) Check the following settings.
·reference user frame

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Position type variable (P variable) cannot be used.

(1)Check the following settings.
·position type variable (P variable).

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4510

CANNOT EXE- CUTE INSTRUC- TION (SQRT)

Setting error

(1) Check the following settings.
∙Check the JOB settings so that the second argument of SQRT in- struction does not become negative.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4511

OUT OF RANGE (DROP-VALUE)

SUB-Code: Control group exceeding the allowable value

Setting error

(1) Check the following settings.
∙Confirm the load setting to the robot.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4512

TWO STEPS SAME LINE (3 STEPS)

Setting error

(1) Check the following settings.
∙Check the settings so that the teaching points are not aligned in a straight line.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4513

EXCESSIVE SEG- MENT
(SAFETY 1): LOW/ HIGH

SUB-Code: Control group and axis

Setting error

(1) Check the following settings.
∙Reduce the speed of the step where the alarm occurred.
∙Change the move instruction to joint interpolation (MOVJ).
* Be careful to the peripheral interference since its movement changes.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4515

EXCESSIVE SEG- MENT
(SAFETY 2): LOW/ HIGH

SUB-Code: Control group and axis

Setting error

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4517

SEARCH MONI- TOR SET ERROR (SERVO)

SUB-Code: The relat- ed control-group

Software operation error occurred

4518

SEARCH MON RE- LEASE ERR (SER- VO)

SUB-Code: The relat- ed control-group

Software operation error occurred

4520

AXIS BLOCKING

SUB-Code: Control group

Setting error

(1) Check the following settings.
∙Check the settings for the general-purpose input signal set in the parameter.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4521

WRONG JOB TYPE

SUB-Code 0000_0001: A robot JOB was started from the concurrent JOB at CALL/JUMP instruc- tion execution.
0000_1001: A con-
current JOB was started from the robot JOB at CALL/JUMP
instruction execution. 1000_0001: A system JOB was started from the robot JOB at CALL/JUMP instruc- tion execution.

Setting error

(1) Check the following settings.
∙Check the settings for the JOB to be started.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4522

TAG DATA CHANGE PRO- CESS ERROR

An attempt was made to change the con- tents of variable tag data.

Setting error

(1) Check the following settings.
∙The variable tag cannot be changed. Correct the JOB so as not to use the variable tag.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

An attempt was made to change the tag data for the JOB pro- hibited from being ed- ited.

Setting error

(1) Check the following settings.
∙Release the prohibition.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

An error occurred at instruction read-in.

Software operation error occurred

The tag is not regis- tered.

Software operation error occurred

The tag data was vari- able specification.

Setting error

(1) Check the following settings.
∙The variable tag cannot be changed. Correct the JOB so as not to use the variable tag.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The value which it was made to change exceeded the limit of tag data.

Setting error

(1) Check the following settings.
∙Check the contents of changing data.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

An error occurred at tag data change.

Software operation error occurred

4523

SHARED AXES CONTROL ERROR

The teaching points are incorrect.

Software operation error occurred

4524

CANNOT EXE- CUTE INST(CON- CUR JOB)

Setting error

(1) Check the following settings.
∙Delete an instruction that cannot be executed such as move in- struction in the concurrent JOB.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4525

CANNOT EXE- CUTE SPECIFIED JOB

An interrupt JOB (us- er setting) is started up during the back operation.

Setting error

(1) Check the following settings.
∙Check the JOB so that the interrupt JOB will not start-up during the back operation.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

An suspend macro JOB is started up during the back oper- ation.

Setting error

(1) Check the following settings.
∙Check the JOB so that the suspend macro JOB will not start-up during the back operation.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

An interrupt JOB (in- side the system) is started up during the back operation.

Setting error

(1) Check the following settings.
∙Check the JOB so that the interrupt JOB will not start-up during the back operation.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

A FOLGE JOB is
started up from a JOB except the registered master JOB.

(1)Check the following settings.
·Check the JOB so that the FOLGE JOB will start-up from the reg- istered master JOB.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4527

UNDEFINED PORT NO.(AOUT)

Setting error

(1) Check the following settings.
∙Check the settings for the specified analog output port number.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4528

SYNTAX ERROR

A syntax error was found in the IF sen- tence.

Software operation error occurred

4529

TWIN COORDINAT- ED ERROR

A JOB without control group was started by SYNC instruction.

Setting error

(1) Check the following settings.
∙Check the control group setting of the JOB to be started by SYNC.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

A JOB only with robot axes was started by SYNC instruction.

Setting error

(1) Check the following settings.
∙Check the control group setting of the JOB to be started by SYNC.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

A JOB only with mas- ter control group axes was started by SYNC instruction.

Setting error

(1) Check the following settings.
∙Check the control group setting of the JOB to be started by SYNC.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

At full synchroniza- tion, the completion timings of move in- structions for the master and the slave disagreed.

Software operation error occurred

At full synchroniza- tion, no operation re- quest from the master was sent.

Software operation error occurred

At full synchroniza- tion, the execution timings of move in- structions for the master and the slave disagreed.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The twin synchronous ID number is incor- rect.

Software operation error occurred

An attempt was made to execute triple syn- chronization when specified Sub-master for the master was dif- ferent.

Setting error

(1) Check the following settings.
∙Match the system number specification of the master between the JOB to be started by SYNC.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4530

CONVEYOR TRACKING ERROR

The base axis specifi- cation is other than 1 or 2 for conveyor characteristic file.

Setting error

(1) Check the following settings.
∙Set the base axis specification of conveyor characteristic file to either 0, 1, or 2.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

No robot axis in the JOB for robot axis tracking

Setting error

(1) Check the following settings.
∙Correct the JOB setting so that the robot axis tracking is executed in the JOB where robot axis exists.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

No base axis in the JOB for base axis tracking

Setting error

(1) Check the following settings.
∙Correct the JOB settings so that the base axis tracking is execut- ed in the JOB where base axis exists.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The conveyor board number and conveyor characteristic file number used are in- correct.

Setting error

(1) Check the following settings.
∙Check the specification of conveyor condition file number for use.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

There was no convey- or start position data at prereading pro- cessing.

Software operation error occurred

No base axis in the JOB for arc tracking

Setting error

(1) Check the following settings.
∙Correct the JOB setting so that the arc tracking is executed in the JOB where robot axis exists.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The set value for the TRACKING COR-
RECTION in a con- veyor condition file is abnormal.

Setting error

(1)Check the following settings.
·Set a larger value for the TRACKING CORRECTION in the con- veyor condition file to be used.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4531

UNDEFINED CON- VEYOR COND FILE

SUB-Code: Conveyor characteristic file number

Setting error

(1) Check the following settings.
∙Set “Use state” of conveyor characteristic file to “1: Use.”

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4532

CONVEYOR SPEED DOWN

SUB-Code: Conveyor number

Setting error

(1) Check the following settings.
∙Correct the “Conveyor Lowest Speed” set in the conveyor char- acteristic file.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4533

ARITHMETIC ER- ROR (CV TRACK- ING)

Designation error of the conveyor tracking control-group

Software operation error occurred

Designation error of the user coordinates for the conveyor tracking

Software operation error occurred

An attempt was made to use the conveyor tracking function with the slave robot at co- ordinate motion.

Setting error

(1) Check the following settings.
∙The conveyor tracking cannot be executed to the slave robot of the coordinate system. Correct the JOB so that the conveyor tracking perform by the robot unit or without coordinated motion.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Zero is set for the res- olution for the turn-ta- ble synchronization.

Setting error

(1) Check the following settings.
∙Check the settings for the resolution.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4534

TORQUE INTER- FERENCE

Setting error

(1) Check the following settings.
∙Correctly set the weight information in the tool file. (Are the weight: W and the number set to the load value of either Xg, Yg or Zg)
∙Reduce the speed in the step where the alarm occurred.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4535

TARGET VARI- ABLE TYPE UN- MATCHED

An attempt was made to obtain the byte type system variable by the other type vari- able.

Setting error

(1) Check the following settings.
∙Obtain as the byte type variable.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

An attempt was made to obtain the integer type system variable by the other type vari- able.

Setting error

(1) Check the following settings.
∙Obtain as the integer type variable.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

An attempt was made to obtain the double- precision integer-type system variable by the other type vari- able.

Setting error

(1) Check the following settings.
∙Obtain as the double-precision integer-type variable.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

An attempt was made to obtain the real- number type system variable by the other type variable.

Setting error

(1) Check the following settings.
∙Obtain as the real-number type variable.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

An attempt was made to obtain the charac- ter-string type system variable by the other type variable.

Setting error

(1) Check the following settings.
∙Obtain as the character-string type variable.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4538

ROBOT AXIS TRACKING INVAL- ID

“SYMOVJ” instruction is executed at robot- axis tracking.

Setting error

(1) Check the following settings.
∙Do not use “SYMOVJ” instruction in robot axis tracking.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4539

CORNER R CON- TROL ERROR

The Corner-R motion cannot be used for coordinated motion.

Setting error

(1) Check the following settings.
∙Do not use the Corner-R motion for coordinated motion.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

An attempt was made to execute the Cor- ner-R motion for the same point.

Setting error

(1) Check the following settings.
∙Check the settings for the teaching so that the start step and end step are not on the same point.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The Corner-R zone is taught on a straight line.

Setting error

(1) Check the following settings.
∙Check the settings for teaching so that the Corner-R zone is not on a strait line.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The start position or end position for the Corner-R motion could not be calculat- ed inside the start zone or the end zone.

Setting error

(1) Check the following settings.
∙Make the setting for the Corner-R radius small.
∙Make the moving amount of the Corner-R start step long.
∙Make the moving amount of the Corner-R start end long.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The Corner-R motion cannot be used for coordinated motion (with master robots).

Setting error

(1) Check the following settings.
∙Do not use the Corner-R motion for master robots at coordinated motion.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The Corner-R motion cannot be used for MOVC, MOVS, and
EIMOVC instructions.

Setting error

(1) Check the following settings.
∙Use a MOVL instruction when using the Corner-R motion.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The Corner-R motion is disabled during weaving.

Setting error

(1) Check the following settings.
∙Do not perform weaving when using the Corner-R motion.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Different tool num- bers are set in a Cor- ner-R zone (for the Corner-R middle step and end step).

Setting error

(1) Check the following settings.
∙Use the same tool number in a Corner-R zone.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The Corner-R motion is disabled when the higher-order acceler- ation/deceleration is specified.

Setting error

(1) Check the following settings.
∙Disable the higher-order acceleration/deceleration when using the Corner-R motion.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The Corner-R motion is disabled during conveyor tracking.

Setting error

(1) Check the following settings.
∙Do not perform the conveyor tracking when using the Corner-R motion.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Arithmetic error oc- curred when calculat- ing the acceleration and deceleration time for the Corner-R oper- ation

Setting error

(1) Check the following settings.
∙Do not perform the conveyor tracking when using the Corner-R motion.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Arithmetic error oc- curred when calculat- ing acceleration and deceleration during test run in consider- ation of SERVO delay for the Corner-R mo- tion.

Setting error

(1) Check the following settings.
∙Do not perform the conveyor tracking when using the Corner-R motion.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4540

JOB QUE EMPTY ERROR

Setting error

(1) Check the following settings.
∙Use “CALL QUE” under the condition that the JOB data is set to the JOB queue.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4541

INVALID INPUT STRING(VAL)

There was no charac- ter string representing a constant in charac- ter string to be ex- tracted at VAL instruction execution.

Setting error

(1) Check the following settings.
∙Check the settings for the data of the character string to be ex- tracted.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4542

MRESET ERROR

An MRESET instruc- tion was executed while no endless axis was designated.

Setting error

(1) Check the following settings.
∙Set the endless axis.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4543

STACK LESS THAN 0 (JOB CALL)

At JOB return, an at- tempt was made to fetch a data from an empty JOB call stack or to stack a data in the JOB call stack that is full.

Software operation error occurred

4544

MID$ INST ERROR

The first character of character string to be extracted is null at MID$ instruction exe- cution.

Setting error

(1) Check the following settings.
∙Check the settings for the data of the character string to be ex- tracted.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The extraction start position exceeds the character string length at MID$ in- struction execution.

Setting error

(1) Check the following settings.
∙Check the settings for the data of the character string to be ex- tracted.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4545

FOLLOWING ARITHMETIC ER- ROR

The trajectory calcu- lation couldn’t be per- formed since the V/T is set to less than 4.

Setting error

(1) Check the following settings.
∙Review tag setting of the FOLLOW2 instruction.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The trajectory calcu- lation couldn’t be per- formed since total stroke volume is less than caught volume.

Setting error

(1) Check the following settings.
∙Review the DD= tag of the FOLLOW2 instruction.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4546

CANNOT EXE- CUTE SYSTEM JOB

SUB-Code: System number

Software operation error occurred

4547

PRIMITIVE ERROR

SUB-Code: Error code

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4548

CANNOT OPER- ATE SPECIFIED EVENT

SUB-Code: System number

Software operation error occurred

4549

NOT EXECUTION OF INIEVNT

SUB-Code: System number

Setting error

(1) Check the following settings.
∙Execute an INIEVNT instruction before executing an event relat- ed instruction.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4550

CANNOT EXE- CUTE INST(USER JOB)

SUB-Code: System number

Setting error

(1) Check the following settings.
∙This instruction cannot be executed in the system JOB. Correct the JOB so that the instruction is executed in the user JOB.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4551

CANNOT MEA- SURE TIP INSTALL COEF

SUB-Code: Gun number

Setting error

(1) Check the following settings.
∙Execute the “SVGUNCL TWC-AE”, and then execute the “SV- GUNCL TWC=BE”.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4565

SOFTWARE UN- MATCH

The multi-layer weld- ing function is not used.

Software operation error occurred

The observer function is not used.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The TURBO function is not used.

Software operation error occurred

The COMARC func- tion is not used.

Software operation error occurred

The conveyor/press synchronization func- tion is not used.

Software operation error occurred

The shared motion function is not used.

Software operation error occurred

The layer motion function is not used.

Software operation error occurred

The general sensor function is not used.

Software operation error occurred

The SERVO float function is not used.

Software operation error occurred

The laser cutting function (with small circle cutter) is not used.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The motor gun func- tion (for spot welding application) is not used.

Software operation error occurred

The speed control function (VCON/ VCOF) is not used.

Software operation error occurred

The SERVO hand function (for handling application) is not used.

Software operation error occurred

The laser cutting function (for form cut- ting operation) is not used.

Software operation error occurred

The series communi- cation function be- tween the systems (PSEND/PRECV) is
not used.

Software operation error occurred

The motion extension function is not used.

Software operation error occurred

The bending function is not used.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The ME-NET function is not used.

Software operation error occurred

The MEMO-PLAY
function is not used.

Software operation error occurred

The 3D-SHIFT func- tion is not used.

Software operation error occurred

The Equalization function is not used.

Software operation error occurred

255

An attempt was made to execute an unde- fined instruction.

Software operation error occurred

4566

USER FRAME MAKING ERROR

The teaching points are incorrect.

Software operation error occurred

The teaching points for user-coordinate turning are incorrect.

Setting error

(1) Check the following settings.
∙Among three taught points in the teaching position. Teach the three points again so that they do not lie in the straight line.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The robot axis is not specified for the con- trol group of the JOB to prepare the user coordinates.

Software operation error occurred

Position data error

Software operation error occurred

Setting error of the slave group for user coordinate conver- sion

Software operation error occurred

4567

CANNOT MONI- TOR DISTANCE

Setting error

(1) Check the following settings.
∙Change the interpolation instruction to MOVL/MOVC.
∙Change the setting so that the arc retry or restart operation does not perform.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4568

UNDEFINED PRESS COND DATA FILE

SUB-Code: Press characteristic file number

Setting error

(1) Check the following settings.
∙Set the status of press characteristic file to be used in the JOB to “Used State.”

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4569

UNDEFINED PRESS RESOLU- TION DATA

SUB-Code: Press characteristic file number

Setting error

(1) Check the following settings.
∙Set the press resolution data to be used in the JOB.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4571

SERVO FLOAT MODE RELEASE ERR

Software operation error occurred

4572

NO SERVO GUN CONTROL GROUP

Setting error

(1) Check the following settings.
∙Set the “motor gun axis” in the control group setting of MAINTE- NANCE mode.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4573

SPOT WELDER NO. ERROR

SUB-Code: Welder number

Setting error

(1) Check the following settings.
∙Correct the welder number set in the gun characteristic file.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4574

SPOT WELD COM- PLETE TIME LIMIT

SUB-Code: Welder number

Setting error

(1) Check the following settings.
∙Turn ON the timer contactor power.
∙If the response from the timer takes too long time due to the sys- tem layout, increase the timeout time.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4575

ERROR IN WELD START TIMING SET

Setting error

(1) Check the following settings.
∙Check the settings for the “WST” tag.
∙Check the settings for the pressure file.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4576

ERR IN MOTOR GUN CONT MODE

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4577

ERR IN MOTOR GUN MODE RE- LEASE

Software operation error occurred

4578

SPOT WELD ER- ROR

SUB-Code: Welder number

Setting error

(1) Check the following settings.
∙Check the settings for the timer conductor where the welding er- ror occurred.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4579

ANTICIPATION CONTROL ERROR

No availability in an- ticipation control

Setting error

(1) Check the following settings.
·Maximum simultaneous execution number of anticipation control is twenty. Correct the settings for the JOB so that it is within twen- ty.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The anticipation data exceeded the maxi- mum length.

Software operation error occurred

Anticipation control did not complete with- in the setting time.

Software operation error occurred

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4580

ANTICIPATION DISTANCE NOT ENOUGH

Setting error

(1) Check the following settings.
∙Operate the robot to the start position of the step where the alarm occurred, and then re-execute.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4581

DEFECTIVE AN- TICIPATION OT FILE

Incorrect setting of OT output number for anticipation output file

Setting error

(1) Check the following settings.
∙Check the setting value of OT output number.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Incorrect setting of OG output number for anticipation output file

Setting error

(1) Check the following settings.
∙Check the setting value of OG output number.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4583

CANNOT EXE- CUTE GUN TYPE

Setting error

(1) Check the following settings.
∙Check the settings for the motion mode set to the gun.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4584

STRWAIT TIME LIMIT

Setting error

(1) Check the following settings.
∙Check the cause such as defective limit switch.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4585

SERVO PG ON ER- ROR

Connection failure

(1) Reset the alarm, and then try again.
(2) If the alarm occurs again, check the connection and inserting state of the following cables and connectors.
∙Each axes encoder cable

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4587

MOTOR GUN CHANGE ERROR

A GUNCHG instruc- tion was executed in the system configura- tion that did not allow the gun change func- tion.

Setting error

(1) Check the following settings.
∙Validate the gun change parameter.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

A GUNCHG/PICK in-
struction was execut- ed while the motor gun motor was SER- VO ON.

Setting error

(1) Check the following settings.
∙Execute GUNCHG/PICK instruction when the motor gun motor is SERVO OFF.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

A GUNCHG/PICK in-
struction was execut- ed while the ATC was in unchuck status.

Setting error

(1) Check the following settings.
∙Execute GUNCHG/PICK instruction when the ATC is in chuck status.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

A GUNCHG/PLACE
instruction was exe- cuted while the ATC was in unchuck sta- tus.

Setting error

(1) Check the following settings.
∙Execute GUNCHG/PLACE instruction when the ATC is in chuck status.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The encoder power supply could not be turned ON when exe- cuting a GUNCHG/ PICK instruction.

Connection failure

(1) Reset the alarm, and then try again.
(2) If the alarm occurs again, check the connection and inserting state of the following cables and connectors.
∙The encoder cable of motor gun

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The encoder power supply could not be turned OFF when ex- ecuting a GUNCHG/ PLACE instruction.

Connection failure

(1) Reset the alarm, and then try again.
(2) If the alarm occurs again, check the connection and inserting state of the following cables and connectors.
∙The encoder cable of motor gun

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The gun number specified by the GUNCHG instruction did not agree with the gun identification sig- nal.

Setting error

(1) Check the following settings.
∙Change the gun characteristic file number specified by GUNCHG instruction to object gun number.
∙Change the gun identification signal so that it become the objec- tive gun number.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The 1st gun axis se- lection signal is not set when executing the twin-wrist gun change.

Setting error

(1) Check the following settings.
∙Check the 1st gun axis selection signal setting.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The right and left gun axis selection signals were duplicated when executing the twin- wrist gun change.

Setting error

(1) Check the following settings.
∙Check the setting for the gun axis selection signal.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The control group for gun axis is not set in the gun change JOB.

Setting error

(1) Check the following settings.
∙Check the settings for the control-group of the JOB.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Multiple robots are not set in the gun change JOB.

Setting error

(1) Check the following settings.
∙Check the settings for the control-group of the JOB.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4589

ABRASION BASIS POS UNSETTING

Setting error

(1) Check the following settings.
∙Resister the reference position of wear correction.

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4590

NO SERVO HAND CONTROL GROUP

Setting error

(1) Check the following settings.
∙Set the “SERVO hand axis” in the control group setting of MAIN- TENANCE mode.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4591

SPEED CTRL MODE SET ERR (SERVO)

Software operation error occurred

4592

SPEED CTRL MODE CANCEL ERR(SV)

Software operation error occurred

4593

SVHAND CTRL MODE SET ERR (SERVO)

Software operation error occurred

4594

SVHND CTRL MODE CANCEL ERR (SV)

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4595

CAN’T DO FIXED FORM CUT MO- TION

The setting for radius is incorrect.
(1) For a circle, it is in- correctly set as: radi- us <= 0, radius < minimum radius val- ue, or radius > maxi- mum radius value.
(2) For an ellipse, it is incorrectly set as: ra- dius <= 0, radius < minimum radius val- ue/2, or radius > (maximum radius/2 – width/2).

Setting error

(1) Check the following settings.
∙Setting of the radius data

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The setting for width is incorrect.
(1) For a rectangle, it is incorrectly set as: width < 1.0, width > sqrt (maximum diam- eter2 – height2), or width > maximum di- ameter.
(2) It is incorrectly set as: width < 0, width > maximum diameter -2
* radius.

Setting error

(1) Check the following settings.
∙Setting of the width data

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The setting for height is incorrect.
(1) For a rectangle, it is incorrectly set as: height > maximum di- ameter, height < mini- mum diameter/2, or height > sqrt (maxi- mum diameter2 – width2).

Setting error

(1) Check the following settings.
∙Setting of the height data

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The setting for the corner radius is incor- rect.
(1) For a rectangle, it is incorrectly set as: corner radius > width/ 2 or corner radius > height/2.

Setting error

(1) Check the following settings.
∙Setting of the corner radius

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The setting for over- lap is incorrect.
(1) For a rectangle, it is incorrectly set as overlap > width/2.
(2) For a circle, it is in- correctly set as over- lap > ABS (2π * radius).
(3) For an ellipse, it is incorrectly set as overlap > π * radius
+ABS (width/2).

Setting error

(1) Check the following settings.
∙Setting of the overlap data

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The setting for the cutting speed is incor- rect. It is set as the cutting speed > maxi- mum linear speed.

Setting error

(1) Check the following settings.
∙Setting of the cutting speed

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Coordinated motion cannot be used with the Form Cutting mo- tion.

Setting error

(1) Check the following settings.
∙Do not use the coordinated motion.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

Zero or a negative value is set in the min- imum diameter pa- rameter (S1CxG063) for the Form Cutting motion.

Setting error

(1) Check the following settings.
∙The setting of the minimum diameter parameter (S1CxG063) for the Form Cutting motion.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Zero or a negative value is set in the maximum diameter parameter (S1CxG064) for the Form Cutting motion.

Setting error

(1) Check the following settings.
∙The setting of the maximum diameter parameter (S1CxG063) for the Form Cutting motion.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Although “PLACE- MENT” or “AUTO” is
set for the start point designation on the FORM CUT SET-
TING window, the FORMAPR instruc- tion was not execut- ed.

Setting error

(1) Check the following settings.
∙Execute the FORMAPR instruction.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The Cut file setting of the FORMAPR in- struction is different from that of the FORMCUT instruc- tion.

Setting error

(1) Check the following settings.
∙The Cut file settings of FORMAPR and FORMCUT instructions must be same.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

A FORMAPR instruc- tion was used for the conventional FORM- CUT instruction.

Setting error

(1) Check the following settings.
∙The FORMAPR instruction cannot be used for the conventional FORMCUT instruction.
∙Validate the new FORMCUT instruction.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

A form other than a circle, rectangle, and ellipse was designat- ed for the convention- al FORMCUT
instruction.

Setting error

(1) Check the following settings.
∙A form other than a circle, rectangle, and ellipse cannot be des- ignated for the conventional FORMCUT instruction.
∙Validate the new FORMCUT instruction.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The radius data set- ting for special circu- lar interpolation is incorrect. It is incor- rectly set as the radi- us <= 0.

Setting error

(1) Check the following settings.
∙Setting of the radius data

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The arc center coordi- nates could not be calculated at special circular interpolation. Incorrect teaching may be the cause.

Setting error

(1) Check the following settings.
∙Setting of the teaching

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

The averaging time at special circular inter- polation motion is too short.

Setting error

(1) Check the following settings.
∙Moving distance
∙Motion speed

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Because the desig- nated plane included reference points at special circular inter- polation motion, the arc center coordi- nates could not be calculated. Incorrect teaching of the refer- ence point 2 may be the cause.

Setting error

(1) Check the following settings.
∙Setting of the reference point 2

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

100

The arc center posi- tion is not set for the special circular inter- polation motion.

Setting error

(1) Check the following settings.
∙Check the settings for the reference point 1 as the arc center po- sition.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4596

FORMCUT ERROR

An attempt was made to re-execute the FORMCUT instruc- tion after interrupting it.

Execute condition failure

(1) Check the following settings.
∙Re-execute the move instruction executed before the FORMCUT instruction, and then execute the FORMCUT instruction again.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4597

OFFLINE POSI- TION DATA CON- VERT ERR

Incorrect information of reference position data for offline posi- tion data conversion

Software operation error occurred

Incorrect user-coordi- nate number designa- tion in the standard position data for of- fline position data conversion

Software operation error occurred

Incorrect reference- point data for offline position data conver- sion

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The standard position data for offline posi- tion data conversion could not correctly be calculated.

Setting error

(1) Check the following settings.
∙The variable position may be out of the robot motion range. Check if the variable position is within the robot motion range.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Incorrect pulse incre- mental value for of- fline position data conversion

Software operation error occurred

The position data could not correctly be added by the pulse in- cremental value at the offline position data conversion.

Software operation error occurred

Incorrect Cartesian incremental value for offline position data conversion

Software operation error occurred

The position data could not correctly be added by the Carte- sian incremental val- ue at the offline position data conver- sion.

Setting error

(1) Check the following settings.
∙The variable position may be out of the robot motion range. Check if the variable position is within the robot motion range.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The position conver- sion could not be done in the designat- ed coordinate system at the offline position data conversion.

Software operation error occurred

Incorrect incremental value of angle for of- fline position data conversion

Software operation error occurred

The position data could not correctly be added by the incre- mental value of angle at the offline position data conversion.

Software operation error occurred

The reverse shift val- ue for 3D shifting could not correctly be calculated at the of- fline position data conversion.

Software operation error occurred

The reverse shift val- ue for 3D shifting could not correctly be added at the offline position data conver- sion.

Software operation error occurred

The reverse shift val- ue could not correctly be calculated at the offline position data conversion.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The reverse shift val- ue could not correctly be calculated at the offline position data conversion.

Software operation error occurred

The 3D shifting value could not correctly be added at the offline position data conver- sion.

Software operation error occurred

The shift value could not correctly be add- ed at the offline posi- tion data conversion.

Software operation error occurred

No reference point is specified for the of- fline position data conversion.

Software operation error occurred

The positions for the mirror shift function could not correctly be calculated at the of- fline position data conversion.

Software operation error occurred

The positions could not correctly be con- verted for the mirror shift function at the of- fline position data conversion.

Setting error

(1) Check the following settings.
∙The variable position may be out of the robot motion range. Check if the variable position is within the robot motion range.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

The expansion posi- tions for the mirror shift function could not correctly be con- verted at the offline position data conver- sion.

Setting error

(1) Check the following settings.
∙The variable position may be out of the robot motion range. Check if the variable position is within the robot motion range.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

Incorrect designation of coordinates for a new mirror-shift con- version function at the offline position data conversion

Software operation error occurred

Incorrect designation of the occupation con- trol group for welding path shift function.

Software operation error occurred

(1) Reset the alarm, select [UTILITY]-[ARC SHIFT CANCEL], and then try again.
(2) If the alarm occurs again, save the CMOS.BIN in MAINTE- NANCE mode, and then contact your YASKAWA representative about occurrence status (operating procedure).

The inverse shift data for welding path shift function could not cor- rectly be calculated.

Software operation error occurred

The inverse shift data for welding path shift function could not cor- rectly be added.

Software operation error occurred

Alarm No.

Alarm Name

SUB-
Code

Meaning

Cause

Remedy

4598

PAINTOUT ERROR

The parameter set- ting for the universal input group number is incorrect.

Setting error

(1) Check the following settings.
∙Check the settings for the AxP011.

other

If the alarm occurs again, save the CMOS.BIN in MAINTENANCE mode, and then contact your YASKAWA representative about oc- currence status (operating procedure).

4599

SERVO COMMAND ERROR

An attempt was made to issue the command while the SERVO control processing has not completed.
SUB-Code: SERVO
CPU bit number

Software operation error occurred